diff --git a/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/checkpoint_identity.json b/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/checkpoint_identity.json new file mode 100644 index 0000000000000000000000000000000000000000..9d7dc89d74ec2d21a4ade8a2ea0d637483023e0a --- /dev/null +++ b/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/checkpoint_identity.json @@ -0,0 +1 @@ +{"repo": "MLL-Lab/LAGEN-models", "revision": "c6cc1991cab95221688662ac3e7b242424b50b30", "path": "zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/checkpoints/model.pt", "blob_id": "514e74dd5da12106f4e368c5520163c4326b14aa", "size": 10922629277} diff --git a/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/config.yaml b/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df09b2f39d1bd99a6a3dd354398eabcc79ad0c5c --- /dev/null +++ b/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/config.yaml @@ -0,0 +1,124 @@ +framework: + name: QwenPI_v3 + qwenvl: + base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 + attn_implementation: flash_attention_2 + vl_hidden_dim: 2560 + num_vl_layers: 36 + enable_gradient_checkpointing: false + action_model: + action_model_type: LayerwiseFM + action_dim: 3 + state_dim: 11 + state_encoding: continuous_projector + task_objective: null + action_horizon: 1 + repeated_diffusion_steps: 2 + num_inference_timesteps: 4 + add_pos_embed: true + max_seq_len: 1024 + num_target_vision_tokens: 32 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + diffusion_model_cfg: + action_dit_hidden_dim: 1024 + dropout: 0.2 + final_dropout: true + interleave_self_attention: true + norm_type: ada_norm + positional_embeddings: null + attention_head_dim: 64 + num_layers: 36 + input_embedding_dim: 1024 + cross_attention_dim: 1024 + output_dim: 1024 + num_attention_heads: 16 + action_env_dim: 3 + future_action_window_size: 0 + past_action_window_size: 0 +version_id: '0.21' +datasets: + vla_data: + include_state: true + obs_image_size: + - 224 + - 224 + image_mode: single + stitch_grid: + - 2 + - 2 + num_obs_frames: 1 + gymnasium_task_contract: &id001 + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + labels: + - thigh_torque + - leg_torque + - foot_torque + low: + - -1.0 + - -1.0 + - -1.0 + type: box + base_prompt: Move the Hopper robot forward while keeping its torso upright. + Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. + env_fps: 5 + env_id: LatencyBench/HopperRgbState-v0 + frame_stack: 1 + make_kwargs: + base_env_id: Hopper-v4 + base_make_kwargs: + ctrl_cost_weight: 0.001 + exclude_current_positions_from_observation: true + forward_reward_weight: 1.0 + healthy_reward: 1.0 + reset_noise_scale: 0.005 + terminate_when_unhealthy: true + render_mode: rgb_array + noop_action: + - 0.0 + - 0.0 + - 0.0 + obs_fps: 5 + registration_imports: + - latency_bench.envs.gymnasium_hopper_rgb_state + state_space: + labels: + - torso_height + - torso_angle + - thigh_angle + - leg_angle + - foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - thigh_angular_velocity + - leg_angular_velocity + - foot_angular_velocity + task_name: hopper_rgb_state + robot_type: rl_games_gymnasium_native +trainer: + pretrained_checkpoint: null + profile_timing: + enabled: false + log_interval: 10 +backbone: + repo_id: Qwen/Qwen3-VL-4B-Instruct + revision: ebb281ec70b05090aa6165b016eac8ec08e71b17 +rl_games: + model_alias: pi05 + task: gymnasium + action_carrier: native + gymnasium: + task_contract: *id001 + env_eval: + image_size: 224 + frameskip: 1 + image_transform: raw_rgb + prompt_mode: raw diff --git a/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/dataset_statistics.json b/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..3af9b3024cbc47bdd129db5879cb8f1d47f87298 --- /dev/null +++ b/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/dataset_statistics.json @@ -0,0 +1,123 @@ +{ + "new_embodiment": { + 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"simulated", "model_id": "pi05", "obs_fps": 5.0, "output_dir": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/pi05/evaluation/l0_parallel32_ib8", "policy_id": "starvla", "profile_ref": null, "run_name": "hopper_pi05_profile_l0_100ep", "simulated_worker_capacity": 1, "source_profile_path": "/home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/pi05/profile/profile.json", "source_run_id": "20260921T094220318783Z", "submitted_observation_frames": 8, "workload_id": "hopper"}, "num_actions": 8, "num_dropped_actions": 0, "num_invalid_actions": 0, "p90_latency_ms": 199.89952679727662, "p99_latency_ms": 209.659278347516, "return_raw": null, "survival_steps": 9} diff --git a/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/eval_config.yaml b/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8578331fca5c1eb93706cfcfe965c98018d084cc --- /dev/null +++ b/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/eval_config.yaml @@ -0,0 +1,162 @@ +env: + state_space: + labels: + - torso_height + - torso_angle + - thigh_angle + - leg_angle + - foot_angle + - torso_x_velocity + - torso_z_velocity + - torso_angular_velocity + - thigh_angular_velocity + - leg_angular_velocity + - foot_angular_velocity + name: gymnasium + task_name: hopper + env_id: LatencyBench/Hopper-v0 + registration_imports: + - latency_bench.envs.tasks.hopper + make_kwargs: + base_env_id: Hopper-v4 + base_make_kwargs: + ctrl_cost_weight: 0.001 + exclude_current_positions_from_observation: true + forward_reward_weight: 1.0 + healthy_reward: 1.0 + reset_noise_scale: 0.005 + terminate_when_unhealthy: true + render_mode: rgb_array + env_fps: 5 + obs_fps: 5 + frame_stack: 1 + action_space: + dtype: float32 + high: + - 1.0 + - 1.0 + - 1.0 + labels: + - thigh_torque + - leg_torque + - foot_torque + low: + - -1.0 + - -1.0 + - -1.0 + type: box + noop_action: + - 0.0 + - 0.0 + - 0.0 + base_prompt: Move the Hopper robot forward while keeping its torso upright. Predict + three continuous torques in [-1, 1] ordered as thigh, leg, and foot. + obs_resize: + - 224 + - 224 +experiment: + name: hopper_pi05_profile_l0_100ep + seed: 42 +backend: + type: sample_factory + algo: APPO + device: cuda + train_dir: /mnt/checkpoints/latency-sensitive-bench/small_models/hopper + restart_behavior: overwrite + run_mode: eval +executor: + mode: simulated + inference_devices: + - cuda:0 + - cuda:1 + inference_batch_size: 8 + simulated_inference_pool: true + simulated_worker_capacity: 1 +latency: + method: iid + sync_cuda: false + profile_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/pi05/profile/profile.json + profile_worker_slot: 0 + seed: 0 +scheduler: + hold_policy: hold + ordering_policy: issue_order_fifo +policy: + type: starvla + checkpoint_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/pi05/l0_bundle/checkpoints/model.pt + model_config_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/pi05/l0_bundle/config.yaml + backbone_path: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 + device: cuda:0 + task_manifest_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/pi05/l0_bundle/manifest.json + latency_prompt_map_path: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/pi05/l0_bundle/latency_prompt_map.json + latency_prompt_key: 0 +training: + train_for_env_steps: 10000000 + num_workers: 8 + num_envs_per_worker: 8 + worker_num_splits: 2 + num_policies: 1 + batch_size: 1024 + rollout: 64 + recurrence: 1 + num_epochs: 2 + num_batches_per_epoch: 4 + num_batches_to_accumulate: 2 + policy_workers_per_policy: 1 + max_policy_lag: 10000 + learning_rate: 0.00295 + lr_schedule: linear_decay + lr_schedule_kl_threshold: 0.008 + gamma: 0.99 + gae_lambda: 0.95 + ppo_clip_ratio: 0.2 + ppo_clip_value: 1.0 + value_loss_coeff: 1.3 + max_grad_norm: 3.5 + exploration_loss: entropy + exploration_loss_coeff: 0.0 + kl_loss_coeff: 0.1 + reward_scale: 1.0 + reward_clip: 1000.0 + async_rl: false + serial_mode: false + batched_sampling: false + with_vtrace: false + use_rnn: false + env_framestack: 4 + encoder_mlp_layers: + - 64 + - 64 + nonlinearity: tanh + adaptive_stddev: false + policy_initialization: torch_default + initial_stddev: 1.0 + actor_critic_share_weights: true + shuffle_minibatches: false + value_bootstrap: false + normalize_input: true + normalize_returns: true + decorrelate_experience_max_seconds: 10 + decorrelate_envs_on_one_worker: true + set_workers_cpu_affinity: true + force_envs_single_thread: true + save_every_sec: 600 + keep_checkpoints: 3 + save_best_every_sec: 60 + save_best_after: 100000 +evaluation: + eval_episodes: 100 + eval_parallel_envs: 32 + eval_max_steps: 1000 + eval_deterministic: true + eval_latency_values: null + episode_seed_offset: 0 +logging: + output_dir: /home/ubuntu/lzj/latency-sensitive-bench/outputs/continuous_control_issued_g128_iid_20261010/hopper/pi05/evaluation/l0_parallel32_ib8 + video: + enabled: false + num_bins: 1 + save_step_records: true + save_action_records: true + save_latency_records: true + realtime_pipeline_profile: false diff --git a/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/latency_prompt_map.json b/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/latency_prompt_map.json new file mode 100644 index 0000000000000000000000000000000000000000..f2b7129bb06cf782fa08ced52a646bb6c42dfaec --- /dev/null +++ b/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/latency_prompt_map.json @@ -0,0 +1,7 @@ +{ + "0": { + "prompt": "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 0 raw frames (0.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. Choose the best next action.", + "latency_raw_frames": 0, + "latency_ms": 0.0 + } +} \ No newline at end of file diff --git a/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/manifest.json b/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..8776b14937d8e0f17fa12c82b602976b5b98ae60 --- /dev/null +++ b/zero-latency/hopper/vla/starvla-qwenpi_v3-h1/hopper_pi05_l0_h1_5fps_g128_20260921/evaluations/g128_current_code_iid_20261010/manifest.json @@ -0,0 +1,142 @@ +{ + "dataset_name": "hopper_h1_5fps_l0", + "env_name": "hopper_rgb_state", + "episodes": 90, + "frames": 88212, + "task_prompts": [ + "Move the Hopper robot forward while keeping its torso upright. Predict three continuous torques in [-1, 1] ordered as thigh, leg, and foot. Current action latency is 0 raw frames (0.00 ms). The environment runs at 5 FPS and observations are emitted at 5 FPS. 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